雷鸣, 王月娟, 蒋平. 视觉引导的机器人轨迹跟踪路径规划的一种新方法[J]. 机器人, 1995, 17(6): 332-336..
LEI Ming, WANG Yuejuan, JIANG Ping. A NEW APPROACH OF PATH PLANNING FOR THE ROBOT TRAJECTORY TRACK BASED ON VISION. ROBOT, 1995, 17(6): 332-336..
Abstract：During the path planning of the robot trajectory track based on vision,it's necessary to reproduce the discrete sampled data into the original curve.The paper provides a new approach of fitting the are and straight lines using the relationship of the arc length and the angle between the tangent of the curve on the point and the horizon. The common two dimension curve fitting methods can't converge the high order derivatives and conquer the data noises. Our method can realize the exact reproduction of the curve.Experiment has been made on our Direct Drive robot.The result is quite good.